This paper discusses a detailed design procedure of a linear torque controller for an in-house developed lab-scale powertrain emulator. This set-up was developed for the validation of new developments in virtual torque sensing, and thus requires decent torque tracking performance in order to simulate real drivetrain dynamics sufficiently accurate. Standard proportional-integral (PI) controllers are not able to effectively compensate for potential flexible modes of the set-up, and an H∞ control approach is proposed. The different design steps then comprise experiment design, identification, feedback controller design using H∞ loop shaping, and inverse-based feedforward controller design. Experimental results demonstrate the obtained torque tracking performance.